نسخة أولية وصول مفتوح
MSK-Bench: Benchmarking Full-Body Musculoskeletal Motor Control Across Tasks, Control Paradigms, and Physiological Metrics
Musculoskeletal (MSK) humanoids provide a physiologically grounded embodiment for studying full-body motor control, but their high-dimensional muscle actuation, delayed activation dynamics, and redundant muscle--tendon structures make learning substantially harder than torque-driven humanoid control. Existing MSK bench …